version: 66.03
glider: 120
mission: 9
dive: 629
start: 4 22 109 22 15 29
data:
$ID,120
$MISSION,9
$DIVE,629
$D_SURF,7
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,660
$T_MISSION,675
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51365
$NAV_MODE,1
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0054608998
$HD_B,0.011315
$HD_C,8.0300997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,275
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-31108.352
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3950
$C_PITCH,3317
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,156
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,176
$ROLL_MAX,3861
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,395
$VBD_MAX,3895
$C_VBD,2876
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,147
$AH0_10V,122.2
$PRESSURE_YINT,-16.122175
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.4000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,53
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043782545
$SEABIRD_T_H,0.00063376746
$SEABIRD_T_I,2.0789576e-05
$SEABIRD_T_J,1.6847914e-06
$SEABIRD_C_G,-10.138739
$SEABIRD_C_H,1.1328104
$SEABIRD_C_I,-0.00035406757
$SEABIRD_C_J,0.00012259149
$GPS1,220807,5011.055,-14455.631,43,1.7,43,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-76.1
$GPS2,221431,5011.023,-14455.673,12,1.7,17,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.090,0.153
$KALMAN_X,-102467.4,369.5,15.2,124444.0,-1895.5
$KALMAN_Y,138364.4,-142.2,115.2,-124369.1,-857.3
$MHEAD_RNG_PITCHd_Wd,311.1,26678,-12.0,-5.000
$D_GRID,1001
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.67,-117.3,0.0,0.0,0,58,0.00,0.00,-29.73,0.000,2,0.000,0.000,138,2400,2495
$GC,62,-0.67,-117.3,3.3,-5.0,3,106,13.68,2.55,-22.12,0.000,4,0.275,0.094,3096,3806,3357
$GC,147,-0.52,-117.3,12.5,-10.2,10,154,0.17,2.33,0.00,0.000,6,0.154,0.054,3144,2394,3358
$GC,477,-0.52,-117.3,37.6,-7.6,41,481,0.00,2.45,0.00,0.000,4,0.000,0.069,3144,993,3358
$GC,507,-0.52,-117.3,40.3,-8.5,43,511,0.00,2.35,0.00,0.000,6,0.000,0.060,3141,2404,3358
$GC,836,-0.52,-117.3,67.0,-8.4,73,841,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2403,3358
$GC,1158,-0.52,-117.3,93.4,-7.7,96,1161,0.00,2.42,0.00,0.000,4,0.000,0.080,3141,3816,3358
$GC,1197,-0.52,-117.3,96.6,-7.5,97,1203,0.00,2.33,0.00,0.000,6,0.000,0.053,3141,2399,3359
$GC,1514,-0.52,-117.3,118.9,-6.7,113,1518,0.00,2.47,0.00,0.000,4,0.000,0.079,3142,3806,3359
$GC,1564,-0.59,-117.3,122.2,-6.9,115,1568,0.00,2.33,0.00,0.000,6,0.000,0.052,3141,2398,3359
$GC,1883,-0.66,-117.3,141.1,-6.0,130,1887,0.12,2.47,0.00,0.000,4,0.082,0.067,3091,991,3358
$GC,1916,-0.66,-117.3,143.7,-8.1,131,1922,0.00,2.35,0.00,0.000,6,0.000,0.059,3091,2404,3359
$GC,2251,-0.62,-117.3,171.3,-8.2,144,2256,0.00,2.42,0.00,0.000,4,0.000,0.078,3088,3809,3358
$GC,2311,-0.57,-117.3,176.3,-8.5,145,2318,0.15,2.30,0.00,0.000,6,0.110,0.053,3130,2391,3359
$GC,2625,-0.62,-117.3,194.9,-5.5,156,2629,0.00,2.38,0.00,0.000,4,0.000,0.068,3130,988,3358
$GC,2670,-0.69,-117.3,197.9,-6.1,157,2674,0.00,2.38,0.00,0.000,6,0.000,0.059,3128,2409,3359
$GC,2996,-0.74,-117.3,216.7,-5.7,168,3001,0.15,2.40,0.00,0.000,4,0.077,0.077,3057,3805,3358
$GC,3036,-0.60,-117.3,219.8,-7.9,169,3041,0.22,2.28,0.00,0.000,6,0.124,0.053,3120,2396,3359
$GC,3362,-0.60,-117.3,240.0,-6.3,180,3365,0.00,2.38,0.00,0.000,4,0.000,0.068,3121,994,3359
$GC,3413,-0.66,-117.3,243.4,-6.6,181,3417,0.00,2.35,0.00,0.000,6,0.000,0.060,3121,2400,3359
$GC,3732,-0.71,-117.3,264.8,-6.8,192,3734,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2399,3359
$GC,4039,-0.76,-117.3,285.4,-6.7,202,4040,0.15,0.00,0.00,0.000,6,0.077,0.000,3059,2399,3359
$GC,4344,-0.70,-117.3,311.1,-8.5,210,4346,0.12,0.00,0.00,0.000,6,0.095,0.000,3096,2399,3359
$GC,4646,-0.70,-117.3,334.7,-7.8,215,4647,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2399,3359
$GC,4950,-0.70,-117.3,356.0,-6.9,220,4954,0.00,2.47,0.00,0.000,4,0.000,0.081,3096,3809,3359
$GC,4985,-0.70,-117.3,358.4,-7.1,220,4989,0.00,2.35,0.00,0.000,6,0.000,0.053,3096,2398,3359
$GC,5313,-0.70,-117.3,378.9,-6.2,226,5314,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2399,3358
$GC,5615,-0.70,-117.3,396.3,-5.6,231,5619,0.00,2.55,0.00,0.000,4,0.000,0.079,3096,3810,3358
$GC,5648,-0.70,-117.3,398.3,-6.1,231,5652,0.00,2.35,0.00,0.000,6,0.000,0.053,3096,2397,3358
$GC,5976,-0.70,-117.3,417.9,-6.1,237,5981,0.00,2.50,0.00,0.000,4,0.000,0.068,3095,990,3358
$GC,6040,-0.70,-117.3,422.3,-6.8,238,6044,0.00,2.38,0.00,0.000,6,0.000,0.061,3096,2398,3358
$GC,6412,-0.70,-117.3,447.9,-6.9,244,6416,0.00,2.47,0.00,0.000,4,0.000,0.081,3096,3816,3358
$GC,6462,-0.70,-117.3,451.7,-7.8,244,6466,0.00,2.35,0.00,0.000,6,0.000,0.053,3096,2397,3358
$GC,6774,-0.70,-117.3,472.1,-6.5,249,6775,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2398,3358
$GC,7076,-0.70,-117.3,490.6,-6.2,254,7077,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2398,3358
$GC,7379,-0.70,-117.3,508.9,-6.0,259,7380,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2398,3358
$GC,7682,-0.70,-117.3,527.1,-5.9,264,7683,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2398,3358
$GC,7986,-0.70,-117.3,544.8,-5.8,269,7987,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2398,3358
$GC,8288,-0.70,-117.3,565.1,-6.8,274,8289,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2398,3358
$GC,8591,-0.70,-117.3,586.9,-7.2,279,8592,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2398,3358
$GC,8894,-0.70,-117.3,606.9,-6.5,284,8898,0.00,2.53,0.00,0.000,4,0.000,0.070,3096,990,3357
$GC,8933,-0.70,-117.3,609.4,-6.5,284,8937,0.00,2.40,0.00,0.000,6,0.000,0.061,3096,2405,3357
$GC,9255,-0.70,-117.3,627.4,-5.6,290,9256,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2404,3357
$GC,9557,-0.70,-117.3,644.9,-5.8,295,9562,0.00,2.53,0.00,0.000,4,0.000,0.069,3096,992,3357
$GC,9591,-0.70,-117.3,647.2,-6.2,295,9596,0.00,2.40,0.00,0.000,6,0.000,0.061,3096,2404,3357
$GC,9919,-0.70,-117.3,666.7,-6.0,301,9920,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2404,3357
$GC,10223,-0.70,-117.3,685.5,-6.2,306,10224,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2404,3357
$GC,10525,-0.70,-117.3,704.4,-6.2,311,10526,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2404,3357
$GC,10828,-0.70,-117.3,722.4,-5.9,316,10829,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2404,3357
$GC,11131,-0.70,-117.3,739.8,-5.7,321,11135,0.00,2.53,0.00,0.000,4,0.000,0.071,3096,985,3356
$GC,11159,-0.74,-117.3,741.6,-6.6,321,11163,0.00,2.42,0.00,0.000,6,0.000,0.062,3096,2410,3356
$GC,11494,-0.78,-117.3,759.7,-5.3,327,11495,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2410,3356
$GC,11796,-0.83,-117.3,776.4,-5.6,332,11801,0.15,2.53,0.00,0.000,4,0.081,0.070,3029,991,3356
$GC,11836,-0.69,-117.3,779.5,-8.2,332,11841,0.22,2.40,0.00,0.000,6,0.145,0.062,3089,2401,3355
$GC,12158,-0.69,-117.3,798.0,-5.7,338,12159,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2401,3355
$GC,12460,-0.69,-117.3,815.4,-5.8,343,12462,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2400,3356
$GC,12764,-0.69,-117.3,834.3,-6.2,348,12765,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2401,3356
$GC,13067,-0.69,-117.3,852.3,-5.9,353,13071,0.00,2.47,0.00,0.000,4,0.000,0.071,3089,993,3355
$GC,13107,-0.69,-117.3,854.9,-6.1,353,13111,0.00,2.40,0.00,0.000,6,0.000,0.062,3086,2401,3355
$GC,13428,-0.69,-117.3,874.9,-6.3,359,13432,0.00,2.47,0.00,0.000,4,0.000,0.082,3086,3817,3355
$GC,13457,-0.74,-117.3,876.7,-6.8,359,13461,0.00,2.33,0.00,0.000,6,0.000,0.056,3086,2399,3355
$GC,13789,-0.74,-117.3,895.6,-5.6,365,13794,0.00,2.42,0.00,0.000,4,0.000,0.072,3086,993,3355
$GC,13842,-0.79,-117.3,898.7,-5.5,365,13846,0.00,2.40,0.00,0.000,6,0.000,0.062,3086,2402,3355
$GC,14153,-0.79,-117.3,914.9,-5.2,370,14157,0.00,2.47,0.00,0.000,4,0.000,0.083,3086,3818,3354
$GC,14181,-0.84,-117.3,916.4,-5.2,370,14186,0.12,2.33,0.00,0.000,6,0.082,0.057,3039,2397,3355
$GC,14521,-0.84,-117.3,936.5,-6.0,376,14522,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2398,3354
$GC,14823,-0.79,-117.3,955.4,-6.2,381,14824,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2398,3354
$GC,15126,-0.75,-117.3,973.8,-6.1,386,15131,0.12,2.45,0.00,0.000,4,0.099,0.072,3078,992,3354
$GC,15160,-0.75,-117.3,975.9,-5.8,386,15164,0.00,2.42,0.00,0.000,6,0.000,0.063,3073,2412,3354
$STATE,15483,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15484,begin apogee
$GC,15493,-0.22,0.0,992.5,5.0,392,15606,0.57,0.00,108.00,1.491,6,0.133,0.000,3245,2200,2876
$STATE,15607,end apogee,CONTROL_FINISHED_OK
$STATE,15607,begin climb
$GC,15611,0.67,117.3,995.7,0.0,394,15735,0.88,2.80,114.85,1.437,4,0.083,0.075,3534,795,2397
$GC,15815,0.33,117.3,989.6,8.2,397,15820,0.43,2.55,0.00,0.000,6,0.170,0.059,3429,2208,2394
$GC,16171,0.33,117.3,968.2,6.0,403,16172,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2208,2393
$GC,16474,0.29,117.3,950.8,5.7,408,16475,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2208,2392
$GC,16777,0.29,117.3,935.0,5.1,413,16779,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2207,2392
$GC,17081,0.27,137.9,921.3,4.4,418,17105,0.00,2.42,18.58,1.385,4,0.000,0.080,3428,3609,2314
$GC,17140,0.18,137.9,918.2,5.3,418,17147,0.22,2.30,0.00,0.000,6,0.172,0.061,3379,2194,2313
$GC,17453,0.37,180.3,906.3,3.8,424,17495,0.17,0.00,39.28,1.420,6,0.077,0.000,3450,2194,2141
$GC,17755,0.37,180.3,887.3,6.5,429,17757,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2194,2137
$GC,18057,0.37,180.3,866.7,6.8,434,18061,0.00,2.40,0.00,0.000,4,0.000,0.079,3450,781,2137
$GC,18096,0.37,180.3,863.9,7.0,434,18100,0.00,2.35,0.00,0.000,6,0.000,0.060,3450,2210,2136
$GC,18418,0.37,180.3,842.3,6.8,440,18419,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2209,2136
$GC,18720,0.37,180.3,823.3,6.2,445,18721,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2209,2136
$GC,19024,0.37,180.3,805.5,5.9,450,19028,0.00,2.45,0.00,0.000,4,0.000,0.078,3450,790,2136
$GC,19063,0.37,180.3,803.1,5.2,450,19067,0.00,2.35,0.00,0.000,6,0.000,0.059,3450,2206,2136
$GC,19386,0.37,180.3,783.9,6.1,456,19387,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2205,2136
$GC,19687,0.37,180.3,763.8,6.7,461,19689,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2205,2136
$GC,19990,0.37,180.3,741.7,7.4,466,19995,0.00,2.45,0.00,0.000,4,0.000,0.077,3450,790,2136
$GC,20036,0.37,180.3,738.2,8.7,466,20040,0.00,2.35,0.00,0.000,6,0.000,0.060,3450,2201,2135
$GC,20353,0.37,180.3,715.0,7.3,472,20354,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2200,2135
$GC,20655,0.37,180.3,693.3,7.1,477,20656,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2200,2135
$GC,20958,0.37,180.3,671.3,7.3,482,20959,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2200,2135
$GC,21261,0.37,180.3,650.0,7.0,487,21265,0.00,2.42,0.00,0.000,4,0.000,0.080,3450,3617,2135
$GC,21289,0.32,180.3,647.7,8.3,487,21293,0.00,2.33,0.00,0.000,6,0.000,0.061,3449,2202,2135
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$STATE,32287,end climb,SURFACE_DEPTH_REACHED
$STATE,32287,begin surface coast
$FINISH,1.0,1.010474
$STATE,32427,end surface coast,CONTROL_FINISHED_OK
$STATE,32427,begin surface
$SM_CCo,32451,31.98,0.842,0,0,1754,275.23
$SM_GC,1.99,0.00,0.00,31.98,0.000,0.000,0.842,138,2403,1754,-9.94,0.08,275.23
$IRIDIUM_FIX,4949.70,-14458.55,170798,131304
$TT8_MAMPS,0.026845
$HUMID,2136
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$TCM_TEMP,14.10
$XPDR_PINGS,1015
$24V_AH,20.9,122.837
$10V_AH,10.4,85.100
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$DEVICE_SECS,29.425,207.950,331.250,31.975,0.000,28.906,25.680,164.386,253.750,0.000,0.000,17.094,1813.285,27292.844,534.174,2348.108,873.687,33.376,1689.106,0.000,2327.365,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,658.726,635.557,1456.771,883.791,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50770,857
$CAP_FILE_SIZE,182902,0
$CFSIZE,260165632,209776640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230409,071831,5014.372,-14458.305,54,1.4,54,18.5